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Aarniokoski was born in San Francisco, California, where he spent his childhood watching movies at a local theater, from which he gained a love of movies and filmmaking. After graduating from high school, he traveled to Los Angeles, where he enrolled in the University of California at Los Angeles and eventually got a job as a tour guide for the Universal Studios facility. After passing out several resumés, he got a job as a personal assistant on the set of Rambo III. Aarniokoski then went on to become an assistant director and then a second-unit director for Robert Rodriguez for all of his films, starting with Four Rooms; he continues collaborating with Rodriguez to the present day. He has also assistant-directed films such as Austin Powers: International Man of Mystery, Spy Kids, and Fear and Loathing in Las Vegas, as well as directing episodes for the TV shows Criminal Minds and Sleepy Hollow. In 2010, Aarniokoski directed The Day, a Canadian post-apocalyptic film that entered the Toronto Film Festival.